Need some advice. My first step inside my RV was squeaking. Took it apart and kinda figured I would find what I did in the picture, only not quite that bad. Poor design (my opinion only). The question is: would you fill the void (red scribbling) in pic, with low expanding foam. I did put 1 more piece of wood and screwed the step back in pretty good. It is solid and doesn't squeak anymore.

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I'd guess the photo is of the underside of a step insert. What does the insert sit on? If it's a solid surface, I'd add more wood strips of proper size to shim the whole step. Foam will compress and if any movement is possible, it will squeak.